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PhantomX Pincher Robot Arm Demos

  • PhantomX Pincher Robot Arm - PC Control - Virtual Commander

    Edge Programs and Firmware

    Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.

    PC Control - Virtual Commander

    Download ArbotiX Robocontroller Firmware Sketch
    Download Virtual Commander program and source code

    The Virtual Commander is a simple way to control your Arm using the commander protocol.

    • Load the sketch onto your ArbotiX
    • Keep the FTDI-USB cable plugged into your ArbotiX
    • Launch the Virtual Commander application
    • Choose your serial port from the drop-down menu (the same serial port that you use to program from your Arduino IDE)
    • Click 'Connect'
    • Now you can press on the joysticks or buttons to control the arm
    If you are using a UartSBee or other USB-XBee device, you can also connect wirelessly from your computer to your arm.
    • Configure your XBees and connect everything as shown below
    • Plug an XBee into your UartSbee and plug the UartSbee into your computer
    • Plug the other XBee into your ArbotiX Robocontroller
    • Connect the Virtual Commander to the serial port the UartSbee is on
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  • PhantomX Pincher Robot Arm - Wired Control - Commander Console

    Edge Programs and Firmware

    Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.

    Wired Control - Commander Console

    Download ArbotiX Robocontroller Firmware Sketch
    Download Commander Console Firmware Sketch (For Arduino/Seeeduino)
    Commander Console Instructions

    You can control your arm by building a commander console, a control box with 6 axises of control.

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  • PhantomX Pincher Robot Arm - Wireless Control - ArbotiX Commander

    Wireless Control - ArbotiX Commander

    Download ArbotiX Robocontroller Firmware Sketch

    The ArbotiX Commander is a great hand-held controller for your Robot Arm. The commander can control the arm using a wireless XBee link.

    • Load the sketch onto your ArbotiX
    • Configure your XBees and plug them into your Commander and Robocontroller.

    You can now control your ArbotiX commander via the following controls:

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    Cartesian Mode
    Walk Joystick(Normal)
    • Horizontal Move arm along X Axis
    • Vertical Move arm along Y Axis
    Look Joystick(Normal)
    • Horizontal N/A
    • Vertical Move arm along Z Axis
    Cylindrical Mode
    Walk Joystick(Normal)
    • Horizontal Move arm along X Axis
    • Vertical Rotate the arm along the base
    Look Joystick(Normal)
    • Horizontal N/A
    • Vertical Move arm along Z Axis
    Backhoe Mode
    Walk Joystick(Normal)
    • Horizontal Rotate the arm along the base
    • Vertical Rotate the dipper (elbow to wrist)
    Look Joystick(Normal)
    • Horizontal Rotate the boom(shoulder to elbow)
    • Vertical Rotate bucket curl
    All Modes
    Look Joystick(While Holding L6)
    • Horizontal N/A
    • Vertical Open/Close Gripper
    Look Joystick(While Holding LT)
    • Horizontal Adjust Wrist Angle
    Right Buttons
    • RT N/A
    • R3 Toggles Debug Mode
    • R2 Move Arm to its home position
    • R1 Cycle through cartesian, cylindrical, and backhoe modes
    Left Buttons
    • LT Enable Wrist Angle Control
    • L6 Enable Gripper control
    • L5 N/A
    • L4 N/A
    Code review
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  • DYNAPose - DYNAMIXEL/ArbotiX Pose Tool

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    Description:

    All the InterbotiX robots turrets, arms, and crawlers use DYNAMIXEL servos. These servos all have positional feedback, allowing the ArbotiX-M Robocontroller to read the current position of each servo. This makes it possible to physically pose an InterbotiX robot, then capture the positions for each servo, allowing the user to save/capture the current pose. By capturing multiple poses, a user can create a sequence that can be repeated.

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  • Untethered Pose Playback with DYNAMIXEL/ArbotiX

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    Description:

    The ArbotiX-M Robocontroller can be used to easily 'play' a sequence of poses on DYNAMIXEL servos. These poses can run automatically, triggered by an outside input (like a pushbutton) or integrated into more advanced code.

    This tutorial can be used in conjunction with the DYNApose tutorial. The DYNApose tutorial will help you to capture a series of poses while this tutorial will help you integrate those poses into new code.

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  • InterbotiX Arm Link Software

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    Description

    InterbotiX Arm control provides a simple interface for the InterbotiX line of Robot Arms. Using this software you can control the Robot Arm via a variety of movement modes including Cartesian IK mode, Cylindrical IK mode, and Backhoe mode.

    In addition to directly controlling your Robot Arm, the Arm Control software can also activate digital outputs, read analog inputs, play motion sequences, and display webcam feeds.

    This software is offered as a simple control solution for these Robot Arms as well as an example for individuals who wish to integrate the Robot Arms into their own applications and systems. InterbotiX Arm Control is an open source program written in Java in the Processing environment. To learn more about building and customizing the software click here.

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